From 0ab71d4f9154dc2a0306ea57ec08659f4e28e449 Mon Sep 17 00:00:00 2001
From: Xiajijian <1176061145@qq.com>
Date: Mon, 16 Mar 2026 16:04:06 +0800
Subject: [PATCH] 1. 智云3.0业务优化，优化类型获取。
---
ard-route/src/main/java/com/ard/route/util/InitializationUtils.java | 70 ++++++++---------------------------
1 files changed, 16 insertions(+), 54 deletions(-)
diff --git a/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java b/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
index c81d8a1..0742cc7 100644
--- a/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
+++ b/ard-route/src/main/java/com/ard/route/util/InitializationUtils.java
@@ -8,6 +8,7 @@
import java.util.ArrayList;
import java.util.List;
+import static com.ard.route.enums.kml.DroneEnumValueEnums.M350_RTK;
import static com.ard.route.util.ToolUtils.getDoublePoint;
/**
@@ -30,10 +31,11 @@
public UavRouteReq initialization(UavRouteReq uavRouteReq){
uavRouteReq.setTemplateType("waypoint");
// 起始点默认航线第一个点
- if (uavRouteReq.getTakeOffRefPoint().isEmpty()){
+ if (uavRouteReq.getTakeOffRefPoint() == null){
uavRouteReq.setTakeOffRefPoint(
uavRouteReq.getRoutePointList().get(0).getLatitude() + "," +
- uavRouteReq.getRoutePointList().get(0).getLongitude() + "," + "0");
+ uavRouteReq.getRoutePointList().get(0).getLongitude() + "," +
+ uavRouteReq.getRoutePointList().get(0).getHeight());
}
//uavRouteReq.setDroneType(89);
uavRouteReq.setSubDroneType(0);
@@ -55,8 +57,10 @@
}
uavRouteReq.setWaypointTurnReq(waypointTurnReq);
uavRouteReq.setGimbalPitchMode("usePointSetting");
- // 变焦数值加工
- buildZoom(uavRouteReq);
+ if (M350_RTK.getValue().equals(uavRouteReq.getDroneType())) {
+ // 变焦数值加工
+ buildZoom(uavRouteReq);
+ }
// 修改每个航点的高度
buildHeight(uavRouteReq);
// 动作组编号数据加工
@@ -87,9 +91,11 @@
* 根据起飞点高度减去当前航点高度
*/
public void buildHeight(UavRouteReq uavRouteReq){
- double takeOffHeight = getDoublePoint(uavRouteReq.getTakeOffRefPoint(),"alt");
- for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
- routePointReq.setHeight(routePointReq.getHeight() - takeOffHeight);
+ if (!"EGM96".equals(uavRouteReq.getHeightMode())){
+ double takeOffHeight = getDoublePoint(uavRouteReq.getTakeOffRefPoint(),"alt");
+ for (RoutePointReq routePointReq : uavRouteReq.getRoutePointList()) {
+ routePointReq.setHeight(routePointReq.getHeight() - takeOffHeight);
+ }
}
}
@@ -102,8 +108,7 @@
for (ActionGroupReq actionGroupReq : routePointReq.getActionGroupList()) {
for (PointActionReq action : actionGroupReq.getActions()) {
if (action.getZoom() != null){
- action.setZoom(multiple_23(action.getZoom()));
- //action.setZoom(multiple_6(action.getZoom()));
+ action.setZoom(multiple23(action.getZoom()));
}
}
}
@@ -111,20 +116,12 @@
}
}
- public static Double multiple_23(Double zoom){
+ public static Double multiple23(Double zoom){
return zoom * CHANSI_H20T;
}
- public static Double multiple_6(Double zoom){
- return zoom * CHANSI_H20_FOCUS;
- }
-
- public static Double divided_23(Double zoom){
+ public static Double divided23(Double zoom){
return zoom / CHANSI_H20T;
- }
-
- public static Double divided_6(Double zoom){
- return zoom / CHANSI_H20_FOCUS;
}
/**
@@ -273,40 +270,5 @@
ardRouteChange.setPoints(points);
}
-
-// private ArdRoutePoints buildArdRoutePoints(){
-// ArdRoutePoints ardRoutePoints1 = new ArdRoutePoints();
-// ardRoutePoints1.setDampingDistance(0);
-// ardRoutePoints1.setFlightPathMode(1);
-// ardRoutePoints1.setGroupIndex(0);
-// ardRoutePoints1.setHeading(0);
-// ardRoutePoints1.setHeadingMode(0);
-// ardRoutePoints1.setHeight(50);
-// ardRoutePoints1.setInterestIndex(0);
-// ardRoutePoints1.setLat(31.11339916);
-// ardRoutePoints1.setLon(103.75851462);
-// ardRoutePoints1.setSafeGohomeFlag(0);
-// ardRoutePoints1.setSpeed(8);
-//
-//
-// }
-
-// private ArdRouteActions buildArdRouteActions(){
-// ArdRouteActions ardRouteActions0 = new ArdRouteActions();
-// ardRouteActions0.setParam(10);
-// ardRouteActions0.setSpeakInfo("");
-// ardRouteActions0.setType(1);
-// ardRouteActions0.setWaitTime(2);
-// ArdRouteActions ardRouteActions1 = new ArdRouteActions();
-// ardRouteActions1.setParam(10);
-// ardRouteActions1.setSpeakInfo("");
-// ardRouteActions1.setType(1);
-// ardRouteActions1.setWaitTime(2);
-// ArdRouteActions ardRouteActions2 = new ArdRouteActions();
-// ardRouteActions2.setParam(10);
-// ardRouteActions2.setSpeakInfo("");
-// ardRouteActions2.setType(1);
-// ardRouteActions2.setWaitTime(2);
-// }
}
--
Gitblit v1.9.3